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ServoInfo Struct Reference

#include <Dynamixel.h>

Inheritance diagram for ServoInfo:

Detailed Description

Definition at line 97 of file Dynamixel.h.

List of all members.

Public Types

enum  RotationMode { POSITION, CONTINUOUS, UNKNOWN }

Public Member Functions

 ServoInfo (unsigned int i=DynamixelProtocol::INVALID_ID)
void setModel (DynamixelProtocol::ModelID_t m)
DynamixelProtocol::ModelID_t getModel () const
void setModelName (const std::string m)
const std::string & getModelName () const
bool hasSensorOffset () const
 returns true if any of the AX-S1 sensor offsets are in use

Public Attributes

plist::Primitive< booldetected
plist::OutputSelector output
plist::OutputSelector led
plist::OutputSelector freeSpinOutput
plist::Primitive< boolinvertRotation
plist::Angle zeroAngle
plist::Primitive< unsigned int > maxTic
plist::Angle maxAngle
plist::Primitive< floatcmdSpeedSlopeP
plist::Primitive< floatcmdSpeedOffsetP
plist::Primitive< floatcmdSpeedSlopeN
plist::Primitive< floatcmdSpeedOffsetN
plist::Primitive< floatrepSpeedSlope
plist::NamedEnumeration
< SensorOffset_t
leftIRDistOffset
plist::NamedEnumeration
< SensorOffset_t
centerIRDistOffset
plist::NamedEnumeration
< SensorOffset_t
rightIRDistOffset
plist::NamedEnumeration
< SensorOffset_t
leftLuminosityOffset
plist::NamedEnumeration
< SensorOffset_t
centerLuminosityOffset
plist::NamedEnumeration
< SensorOffset_t
rightLuminosityOffset
plist::NamedEnumeration
< SensorOffset_t
micVolumeOffset
plist::NamedEnumeration
< SensorOffset_t
micSpikeCountOffset
unsigned int servoID
float slope
float punch
float margin
enum
DynamixelDriver::ServoInfo::RotationMode 
curRotationMode
unsigned short lastCmd
float recentCmdMotion
unsigned short failures
float predictedLoad
float sensorPriority
 amount to add to sensor activation each sensor check, negative values indicate "auto" mode based on movement speed with decay
float sensorActivation
 the accumulated "energy" for polling this servo, the servos with highest activation are polled as avaiable
unsigned int micSpikeFrameNumber
 stores the frame number when the micSpike occurred, so we can tell when the system has received it
DynamixelProtocol::ModelID_t model
plist::Primitive< std::string > modelName

Protected Member Functions

void initEntries ()

Member Enumeration Documentation

Enumerator:
POSITION 
CONTINUOUS 
UNKNOWN 

Definition at line 191 of file Dynamixel.h.


Constructor & Destructor Documentation

ServoInfo ( unsigned int  i = DynamixelProtocol::INVALID_ID  ) 

Definition at line 98 of file Dynamixel.h.


Member Function Documentation

DynamixelProtocol::ModelID_t getModel (  )  const

Definition at line 148 of file Dynamixel.h.

const std::string& getModelName (  )  const

Definition at line 150 of file Dynamixel.h.

bool hasSensorOffset (  )  const

returns true if any of the AX-S1 sensor offsets are in use

Definition at line 153 of file Dynamixel.h.

void initEntries (  )  [protected]

Definition at line 203 of file Dynamixel.h.

Referenced by ServoInfo::ServoInfo(), and ServoInfo::setModel().

void setModel ( DynamixelProtocol::ModelID_t  m  ) 

Definition at line 147 of file Dynamixel.h.

void setModelName ( const std::string  m  ) 

Definition at line 149 of file Dynamixel.h.


Member Data Documentation

Definition at line 174 of file Dynamixel.h.

Referenced by ServoInfo::initEntries().

Definition at line 172 of file Dynamixel.h.

Referenced by ServoInfo::initEntries().

Definition at line 173 of file Dynamixel.h.

Referenced by ServoInfo::initEntries().

Definition at line 171 of file Dynamixel.h.

Referenced by ServoInfo::initEntries().

unsigned short failures

Definition at line 194 of file Dynamixel.h.

Referenced by CommThread::cancelled(), and CommThread::readResponse().

unsigned short lastCmd

Definition at line 192 of file Dynamixel.h.

Definition at line 190 of file Dynamixel.h.

plist::Primitive<unsigned int> maxTic

Definition at line 169 of file Dynamixel.h.

Referenced by ServoInfo::initEntries(), and DynamixelDriver::provideValues().

unsigned int micSpikeFrameNumber

stores the frame number when the micSpike occurred, so we can tell when the system has received it

Definition at line 198 of file Dynamixel.h.

Referenced by DynamixelDriver::provideValues().

Definition at line 200 of file Dynamixel.h.

Definition at line 195 of file Dynamixel.h.

Definition at line 189 of file Dynamixel.h.

Definition at line 193 of file Dynamixel.h.

Referenced by CommThread::runloop().

the accumulated "energy" for polling this servo, the servos with highest activation are polled as avaiable

Definition at line 197 of file Dynamixel.h.

Referenced by CommThread::cancelled(), CommThread::readResponse(), and CommThread::runloop().

amount to add to sensor activation each sensor check, negative values indicate "auto" mode based on movement speed with decay

Definition at line 196 of file Dynamixel.h.

Referenced by CommThread::runloop().

unsigned int servoID

Definition at line 187 of file Dynamixel.h.

Referenced by CommThread::cancelled(), and CommThread::readResponse().

Definition at line 188 of file Dynamixel.h.


The documentation for this struct was generated from the following file:

Tekkotsu Hardware Abstraction Layer 5.1CVS
Generated Mon May 9 05:01:41 2016 by Doxygen 1.6.3